version: 66.04
glider: 108
mission: 11
dive: 235
start: 10 26 108 17 8 37
data:
$ID,108
$MISSION,11
$DIVE,235
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115157.32
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,1740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.639299
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,170207,6642.899,-6008.326,26,1.1,26,-38.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-69.1
$GPS2,170744,6642.886,-6008.190,12,1.1,12,-38.0
$SPEED_LIMITS,0.122,0.233
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.116,0.202
$KALMAN_X,77254.1,-736.2,-142.9,-186505.9,1940.7
$KALMAN_Y,-137287.7,1156.0,-309.0,115582.3,-3368.1
$MHEAD_RNG_PITCHd_Wd,8.1,11716,-13.0,-7.021
$D_GRID,585
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.00,-145.9,0.0,0.0,0,64,0.00,0.00,-45.67,0.000,2,0.000,0.000,337,2235,2496
$GC,66,-1.00,-146.0,3.1,-1.5,8,115,8.62,2.45,-33.45,0.000,4,0.251,0.077,2447,814,3343
$GC,368,-0.73,-146.0,44.5,-13.4,61,375,0.22,2.42,0.00,0.000,6,0.143,0.068,2502,2234,3347
$GC,712,-0.73,-146.0,75.9,-8.7,122,718,0.00,2.38,0.00,0.000,4,0.000,0.064,2503,814,3348
$GC,825,-0.67,-146.0,85.9,-8.7,142,832,0.00,2.40,0.00,0.000,6,0.000,0.068,2495,2236,3348
$GC,1166,-0.61,-146.0,112.5,-7.3,181,1167,0.12,0.00,0.00,0.000,6,0.151,0.000,2528,2236,3348
$GC,1475,-0.71,-146.0,131.1,-6.3,196,1477,0.10,0.00,0.00,0.000,6,0.090,0.000,2488,2236,3348
$GC,1785,-0.67,-146.0,156.2,-8.0,211,1786,0.10,0.00,0.00,0.000,6,0.156,0.000,2513,2236,3348
$GC,2094,-0.72,-146.0,175.9,-6.0,226,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2236,3348
$GC,2405,-0.79,-146.0,196.3,-6.9,241,2410,0.12,2.38,0.00,0.000,4,0.089,0.066,2465,809,3347
$GC,2482,-0.64,-146.0,203.6,-9.1,244,2489,0.22,2.40,0.00,0.000,6,0.140,0.070,2519,2234,3347
$GC,2798,-0.75,-146.0,223.6,-6.2,260,2803,0.10,2.28,0.00,0.000,4,0.094,0.083,2468,3602,3347
$GC,2876,-0.67,-146.0,230.0,-9.0,263,2883,0.17,2.25,0.00,0.000,6,0.151,0.054,2516,2220,3347
$GC,3192,-0.77,-146.0,248.8,-5.8,279,3196,0.10,2.30,0.00,0.000,4,0.098,0.067,2475,811,3347
$GC,3351,-0.68,-146.0,261.5,-8.9,286,3356,0.17,2.38,0.00,0.000,6,0.143,0.070,2514,2237,3347
$GC,3679,-0.79,-146.0,282.0,-6.3,302,3681,0.12,0.00,0.00,0.000,6,0.085,0.000,2465,2237,3347
$GC,3987,-0.72,-146.0,306.8,-8.0,317,3989,0.15,0.00,0.00,0.000,6,0.151,0.000,2506,2237,3347
$GC,4296,-0.81,-146.0,325.2,-5.7,332,4300,0.10,2.28,0.00,0.000,4,0.096,0.083,2454,3601,3346
$GC,4424,-0.73,-146.0,334.6,-7.1,337,4431,0.17,2.25,0.00,0.000,6,0.158,0.054,2502,2215,3346
$GC,4742,-0.81,-146.0,352.2,-5.6,353,4745,0.00,2.30,0.00,0.000,4,0.000,0.066,2502,813,3346
$GC,4820,-0.87,-146.0,357.1,-5.9,356,4825,0.10,2.38,0.00,0.000,6,0.088,0.067,2453,2232,3346
$GC,5136,-0.78,-146.0,381.0,-8.0,371,5140,0.15,2.28,0.00,0.000,4,0.146,0.081,2486,3605,3346
$GC,5247,-0.85,-146.0,389.0,-6.5,376,5251,0.00,2.25,0.00,0.000,6,0.000,0.052,2486,2225,3346
$GC,5592,-0.85,-146.0,411.1,-6.3,389,5596,0.00,2.30,0.00,0.000,4,0.000,0.066,2486,815,3347
$GC,5715,-0.85,-146.0,419.4,-6.2,391,5719,0.00,2.35,0.00,0.000,6,0.000,0.067,2477,2236,3347
$GC,6052,-0.85,-146.0,441.2,-6.4,400,6056,0.00,2.25,0.00,0.000,4,0.000,0.081,2465,3604,3347
$GC,6108,-0.85,-146.0,445.0,-6.6,401,6111,0.00,2.22,0.00,0.000,6,0.000,0.051,2466,2219,3347
$GC,6426,-0.85,-146.0,465.6,-6.4,409,6430,0.00,2.25,0.00,0.000,4,0.000,0.064,2465,822,3347
$GC,6526,-0.77,-146.0,472.6,-6.9,411,6531,0.12,2.30,0.00,0.000,6,0.141,0.067,2489,2233,3347
$GC,6840,-0.84,-146.0,488.6,-4.9,419,6843,0.00,2.22,0.00,0.000,4,0.000,0.078,2481,3604,3348
$GC,6895,-0.91,-146.0,491.4,-4.9,420,6900,0.10,2.17,0.00,0.000,6,0.094,0.051,2438,2222,3348
$GC,7214,-0.78,-146.0,512.0,-6.5,428,7219,0.17,2.25,0.00,0.000,4,0.144,0.064,2488,818,3348
$GC,7303,-0.78,-146.0,516.9,-5.3,430,7307,0.00,2.33,0.00,0.000,6,0.000,0.066,2481,2235,3348
$GC,7627,-0.78,-146.0,535.8,-6.4,438,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2235,3349
$GC,7953,-0.78,-146.0,553.7,-5.1,446,7956,0.00,2.22,0.00,0.000,4,0.000,0.079,2470,3600,3349
$GC,8043,-0.78,-146.0,559.1,-6.7,448,8046,0.00,2.17,0.00,0.000,6,0.000,0.051,2470,2219,3348
$GC,8373,-0.78,-146.0,579.4,-6.5,456,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2219,3349
$STATE,8453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8453,begin apogee
$GC,8459,-0.31,0.0,585.6,7.1,458,8586,0.40,0.00,124.47,1.245,6,0.131,0.000,2594,1742,2745
$STATE,8587,end apogee,CONTROL_FINISHED_OK
$STATE,8587,begin climb
$GC,8589,1.00,146.0,587.7,0.0,461,8722,0.88,0.00,128.02,1.169,6,0.106,0.000,2871,1742,2149
$GC,9038,0.81,146.0,547.0,10.6,472,9040,0.15,0.00,0.00,0.000,6,0.130,0.000,2831,1742,2142
$GC,9362,0.81,146.0,521.1,8.0,480,9366,0.00,2.42,0.00,0.000,4,0.000,0.071,2831,3162,2141
$GC,9384,0.74,146.0,518.9,9.7,480,9388,0.10,2.38,0.00,0.000,6,0.146,0.054,2814,1729,2140
$GC,9731,0.75,155.8,494.7,6.7,489,9745,0.00,2.47,8.32,1.026,4,0.000,0.070,2814,3149,2109
$GC,9752,0.75,155.8,493.2,7.4,489,9756,0.00,2.38,0.00,0.000,6,0.000,0.053,2820,1730,2108
$GC,10093,0.75,155.8,468.5,7.4,498,10098,0.00,2.42,0.00,0.000,4,0.000,0.071,2820,3154,2108
$GC,10109,0.75,155.8,467.2,7.5,498,10113,0.00,2.35,0.00,0.000,6,0.000,0.051,2830,1731,2108
$GC,10458,0.75,155.8,440.6,7.5,507,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1731,2108
$GC,10782,0.75,155.8,415.7,7.6,515,10786,0.00,2.40,0.00,0.000,4,0.000,0.071,2830,3155,2108
$GC,10803,0.68,155.8,413.9,8.9,515,10808,0.15,2.30,0.00,0.000,6,0.137,0.051,2798,1736,2107
$GC,11136,0.81,161.5,391.9,6.8,526,11145,0.12,0.00,6.50,0.946,6,0.077,0.000,2854,1736,2086
$GC,11442,0.72,161.5,364.2,8.8,541,11443,0.15,0.00,0.00,0.000,6,0.127,0.000,2811,1736,2085
$GC,11751,0.84,180.5,344.2,6.4,556,11774,0.12,2.42,16.77,1.068,4,0.078,0.071,2864,3153,2008
$GC,11786,0.70,180.5,341.2,8.8,557,11790,0.22,2.33,0.00,0.000,6,0.133,0.052,2810,1739,2007
$GC,12102,0.86,204.5,320.7,6.2,572,12126,0.12,0.00,21.67,1.058,6,0.076,0.000,2865,1739,1911
$GC,12431,0.80,204.5,291.8,8.8,588,12435,0.12,2.38,0.00,0.000,4,0.127,0.071,2829,3157,1907
$GC,12463,0.80,204.5,289.1,7.4,589,12469,0.00,2.33,0.00,0.000,6,0.000,0.052,2837,1736,1906
$GC,12781,0.87,212.9,267.4,6.8,605,12790,0.00,0.00,7.93,0.928,6,0.000,0.000,2837,1736,1877
$GC,13089,0.97,223.1,246.5,6.7,620,13102,0.10,0.00,10.25,0.960,6,0.085,0.000,2883,1736,1835
$GC,13397,0.89,223.1,220.7,8.3,635,13399,0.12,0.00,0.00,0.000,6,0.130,0.000,2848,1736,1832
$GC,13707,0.99,238.5,200.4,6.5,650,13726,0.10,0.00,14.38,0.981,6,0.088,0.000,2890,1736,1771
$GC,14035,0.93,238.5,172.9,8.0,666,14037,0.12,0.00,0.00,0.000,6,0.133,0.000,2855,1736,1767
$GC,14345,1.03,252.3,153.8,6.6,681,14368,0.10,2.40,12.65,0.955,4,0.089,0.075,2897,3147,1715
$GC,14391,0.86,252.3,149.7,10.4,683,14396,0.22,2.33,0.00,0.000,6,0.136,0.055,2842,1732,1714
$GC,14717,1.03,252.3,126.4,7.1,699,14719,0.12,0.00,0.00,0.000,6,0.081,0.000,2897,1731,1711
$GC,15026,1.03,252.3,98.6,8.7,714,15033,0.00,2.30,0.00,0.000,4,0.000,0.071,2907,330,1711
$GC,15050,1.03,252.3,96.6,8.7,718,15057,0.12,2.33,0.00,0.000,6,0.137,0.061,2873,1752,1710
$GC,15394,1.16,287.2,74.1,5.9,779,15431,0.12,2.38,30.73,0.961,4,0.082,0.077,2926,3154,1574
$GC,15437,1.08,287.2,70.9,7.6,786,15444,0.17,2.33,0.00,0.000,6,0.143,0.057,2888,1732,1571
$GC,15781,1.16,287.2,47.0,7.3,847,15788,0.00,2.33,0.00,0.000,4,0.000,0.073,2896,331,1565
$GC,15805,1.23,287.2,45.2,7.9,851,15812,0.10,2.35,0.00,0.000,6,0.087,0.061,2941,1751,1565
$GC,16150,1.17,287.2,14.3,9.8,912,16157,0.12,2.33,0.00,0.000,4,0.146,0.078,2907,3163,1563
$GC,16164,1.11,287.2,13.0,9.5,914,16170,0.00,2.30,0.00,0.000,6,0.000,0.058,2913,1730,1563
$STATE,16303,end climb,SURFACE_DEPTH_REACHED
$STATE,16303,begin surface coast
$FINISH,1.7,1.012552
$STATE,16343,end surface coast,CONTROL_FINISHED_OK
$STATE,16343,begin surface
$SM_CCo,16421,0.00,0.000,0,0,1559,290.93
$SM_GC,2.50,6.93,0.00,0.00,0.051,0.000,0.000,340,2233,1559,-10.56,0.08,290.93
$RAFOS_CLK,709
$RAFOS,4,1225053858,20.750000,20.738333,64,55,54,52,51,50,204,187,216,152,119,173
$RAFOS,3,1225053241,20.583334,20.566944,75,61,60,57,56,52,217,189,206,161,150,170
$RAFOS,2,1225052645,20.416666,20.401388,65,63,63,59,54,50,193,147,215,931,159,367
$RAFOS,1,1225052047,20.250000,20.235277,66,65,65,60,59,58,692,218,184,172,193,150
$RAFOS,0,1225051453,20.083334,20.070278,75,72,65,60,58,57,487,205,191,173,214,148
$RAFOS_FIX,149857.625000,1110628.375000,261008,202012,2,75,57400.97
$IRIDIUM_FIX,6614.97,-6013.96,200198,121231
$TT8_MAMPS,0.026845
$HUMID,1804
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,15.10
$XPDR_PINGS,29
$24V_AH,22.6,42.453
$10V_AH,10.6,19.401
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.300,117.900,381.700,0.000,0.000,24.748,32.179,166.687,7.250,0.000,0.000,14.039,1754.991,12291.308,510.358,1785.664,449.848,33.360,1463.697,0.000,1764.072,1800.000,0.529,0.000
$DEVICE_MAMPS,250.809,82.836,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31558,946
$CAP_FILE_SIZE,131926,0
$CFSIZE,260165632,236056576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$GPS,261008,214408,6643.408,-6010.679,32,1.1,32,-38.0